Hesai PandarQT - 1.2 Laser Firing Time

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◼ Single Return Mode
The ranging data generated by one round of firing is stored in one block. The calculation of each Block's start time is as follows:
Block
Start Time (μs)
Block 1
t0
Block 2
t0 + 166.67
Block 3
t0 + 333.33
Block 4
t0 + 500.00
◼ Dual Return Mode
The ranging data generated by one round of firing is stored in two adjacent blocks, and these two blocks share the same firing time.
Block 4 in the former packet and Block 1 in the latter packet are also considered adjacent.
Block
Start Time (μs)
Block n & Block (n+1)
t0
Block (n+2) & Block (n+3)
t0 + 166.67
Block (n+4) & Block (n+5)
t0 + 333.33
Block (n+6) & Block (n+7)
t0 + 500.00